From d4ea79c2a0dabbe62f8a2acdb2a9d22e1c951bd3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 23 Oct 2013 15:21:25 +0000
Subject: [PATCH]
---
src/safe_cmd_alg_node.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/safe_cmd_alg_node.cpp b/src/safe_cmd_alg_node.cpp
index 33106c0..30938ba 100644
--- a/src/safe_cmd_alg_node.cpp
+++ b/src/safe_cmd_alg_node.cpp
@@ -4,8 +4,8 @@ SafeCmdAlgNode::SafeCmdAlgNode(void) :
algorithm_base::IriBaseAlgorithm<SafeCmdAlgorithm>(),
collision_time_(1),
min_dist_(0.3),
- max_vel_front_(10),
- max_vel_rear_(10)
+ max_vel_front_(1),
+ max_vel_rear_(-1)
{
//init class attributes if necessary
loop_rate_ = 20;//in [Hz]
@@ -143,7 +143,7 @@ int main(int argc,char *argv[])
float SafeCmdAlgNode::compute_max_velocity_(const sensor_msgs::LaserScan::ConstPtr& scan) const
{
- float max_velocity = 10;
+ float max_velocity = 1;
for (uint i = 0; i < scan->ranges.size(); i++)
{
--
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